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68 float near,
float far) {
69 const float xscale = near /
fx;
70 const float yscale = near /
fy;
72 const float xoffset = (
cx - (width / 2.0)) * xscale;
74 const float yoffset = -(
cy - (height / 2.0)) * yscale;
77 xscale * width / 2.0
f - xoffset,
78 yscale * -height / 2.0
f - yoffset,
79 yscale * height / 2.0
f - yoffset,
glm::mat4 GetViewMatrix()
void SetWindowSize(const float width, const float height)
glm::mat4 GetProjectionMatrix()
void SetFieldOfView(const float fov)
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
static glm::mat4 ProjectionMatrixForCameraIntrinsics(float width, float height, float fx, float fy, float cx, float cy, float near, float far)
void SetNearFarClipPlanes(const float near, const float far)
GLM_FUNC_DECL matType< T, P > inverse(matType< T, P > const &m)
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:06